CN113504837A - Trajectory tracking device capable of increasing working surface applicability - Google Patents

Trajectory tracking device capable of increasing working surface applicability Download PDF

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Publication number
CN113504837A
CN113504837A CN202110660536.6A CN202110660536A CN113504837A CN 113504837 A CN113504837 A CN 113504837A CN 202110660536 A CN202110660536 A CN 202110660536A CN 113504837 A CN113504837 A CN 113504837A
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China
Prior art keywords
image sensor
tracking device
light source
image
trajectory tracking
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CN202110660536.6A
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Chinese (zh)
Inventor
陈晖暄
杨政霖
陈之悠
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Pixart Imaging Inc
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Pixart Imaging Inc
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Publication of CN113504837A publication Critical patent/CN113504837A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03543—Mice or pucks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
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    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation

Abstract

There is provided a trajectory tracking device for detecting an amount of displacement relative to a work surface, the trajectory tracking device comprising: a first image sensor for outputting a first image frame; a second image sensor for outputting a second image frame; a lens; the first light source is used for emitting light to the working surface to generate reflected light and scattered light, wherein the reflected light is incident to the first image sensor without passing through the lens, and the scattered light is incident to the second image sensor with passing through the lens.

Description

Trajectory tracking device capable of increasing working surface applicability
The application is a divisional application of Chinese invention patent application with the application number of 201810497372.8, the application date of 2018, 05 and 22, and the name of a trajectory tracking device capable of increasing the applicability of a working surface.
Technical Field
The present invention relates to an optical tracking device, and more particularly, to an optical tracking device capable of increasing the applicability of a working surface.
Background
An optical displacement detection device typically includes a light source, an image sensor, and a processor. The light source is used for illuminating a work surface. The image sensor is used for acquiring reflected light from the working surface and outputting pixel data. The processor calculates the displacement of the displacement detection device relative to the working surface according to the pixel data.
However, the known optical displacement detection devices have the limitation that they cannot operate normally on all working surfaces. For example, a displacement detection device that is adapted to a light reflecting surface may not be adapted to a light absorbing surface, and vice versa.
Therefore, an optical displacement detecting device capable of operating on any working surface is needed.
Disclosure of Invention
The invention provides a trajectory tracking device which is suitable for both smooth and rough working surfaces.
The present invention also provides a trajectory tracking device capable of calculating a distance between an image sensor and a work surface, and calculating a magnification of displacement according to the distance to output substantially the same count per inch (counts per inch), thereby improving user experience.
The invention provides a track following device for detecting displacement relative to a working surface. The track tracking device comprises a first image sensor, a second image sensor, a lens and a first light source. The first image sensor is configured to output a first image frame. The second image sensor is used for outputting a second image frame. The first light source is used for emitting light towards the working surface to generate reflected light and scattered light, wherein the reflected light is incident to the first image sensor without passing through the lens, and the scattered light is incident to the second image sensor with passing through the lens.
In the present invention, the work surface is, for example, a table top, floor, carpet surface, glass surface, tile surface, or other surface on which the trajectory tracking device can travel. The trajectory tracking device may be adapted to different work surfaces using different modes of operation.
In order that the manner in which the above recited and other objects, features and advantages of the present invention are obtained will become more apparent, a more particular description of the invention briefly described below will be rendered by reference to the appended drawings. In the description of the present invention, the same components are denoted by the same reference numerals and will be described later.
Drawings
FIG. 1 is a schematic diagram of a trajectory tracking device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a trajectory tracking device according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a trajectory tracking device according to still another embodiment of the present invention.
Description of the reference numerals
100 track tracking device
11 image sensor
12 first light source
13 second light source
14 lens
15 processor
16 third light source
17 casing
Detailed Description
The invention is applied to an optical track tracing device, which can be applied to any working surface, including strong light reflecting surfaces such as glass surfaces, light-colored tile surfaces and the like, and weak light reflecting surfaces such as carpet surfaces, dark-colored tile surfaces and the like, so as to effectively increase the operable working surface of the track tracing device.
Fig. 1 is a schematic diagram of a trajectory tracking device 100 according to an embodiment of the invention. The trajectory tracking device 100 is, for example, an optical mouse, a sweeping robot, or an optical device that moves on a working surface S and detects the displacement or trajectory relative to the working surface S. The work surface S is, for example, a table top, floor, carpet surface, glass surface, tile surface, or other surface on which the trajectory tracking device 100 may travel, depending on the application.
The trajectory tracking device 100 includes a housing 17, and the material thereof is not limited. The bottom surface of the housing 17 has an opening 100H for the light source and the sensor therein to detect the surface characteristics of the working surface S and calculate the displacement accordingly.
The housing 17 of the trajectory tracking device 100 includes the image sensor 11, the first light source 12, the second light source 13, the lens 14, and the processor 15. In some embodiments, the image sensor 11, the first light source 12, the lens 14, and the processor 15 are formed in the same package structure. In other embodiments, the second light source 13 is also formed in the same package structure. The processor 15 is electrically connected to the image sensor 11, the first light source 12 and the second light source 13.
The image sensor 11 comprises, for example, a CCD image sensor, a CMOS image sensor or other optical sensor for generating image frames IF at a predetermined or sampling rate (sampling rate) from incident light received by its pixel array (pixel array). The image sensor 11 is preferably adapted to sense invisible light, such as infrared light, or full spectrum light but with a light filter to filter out visible light.
The first light source 12 is configured to shine light through the opening 100H toward the working surface S to generate reflected light Lr, and the reflected light Lr passes through the opening 100H and then enters the image sensor 11 without passing through the lens 14 or any other lens. In other words, the image sensor 11 can be disposed on the main reflective optical path of the first light source 12 (i.e. receiving the main reflective light beam with a reflection angle equal to the incident angle of the main incident light beam) so as to detect the reflected light Lr generated by the first light source 12 on a highly reflective surface (e.g. a light-colored floor tile surface, a glass surface, etc.). The first light source 12 is, for example, a laser diode, and is configured to emit invisible light.
The second light source 13 is configured to irradiate light toward the working surface S through the opening 100H to generate scattered light Ls, and the scattered light Ls passes through the opening 100H and then enters the image sensor 11 through the lens 14. The lens 14 is preferably a convex lens for converging the scattered light Ls to the sensing array of the image sensor 11. In other words, the image sensor 11 is not disposed on the main reflection light path of the second light source 13 (does not receive the main reflection light beam corresponding to the main incident light beam of the second light source 13) for detecting the scattered light Ls generated by the second light source 13 on a weak reflection surface (e.g. dark floor tile surface, carpet surface, etc.). The second light source 13 is, for example, a Light Emitting Diode (LED) or a laser diode (laser diode) for emitting invisible light. The laser diode has an emission angle (emission angle) of 18 to 30 degrees; the light emitting diode has an emitting angle of about 30 degrees, but is not limited thereto.
It should be noted that although the light passing through the lens 14 is referred to as the scattered light Ls in the present embodiment, the scattered light Ls is actually formed by the working surface S reflecting the light emitted by the second light source 13, and only the transmission of the scattered light Ls is not located on the main reflection optical path of the second light source 13 (i.e. the path of the main reflection beam has a reflection angle equal to the incident angle of the main incident light) so as to be separated from the reflected light Lr. The reflected light Lr is the light reflected by the working surface S and transmitted to the main reflected light path.
The processor 15 is, for example, a Digital Signal Processor (DSP), a Microprocessor (MCU), an Application Specific Integrated Circuit (ASIC), a Central Processing Unit (CPU), or other processing devices for processing the image frames IF, and the functions thereof can be implemented by software, hardware, firmware, or a combination thereof.
The processor 15 is configured to control the first light source 12 or the second light source 13 to be turned on. For example, when the trajectory tracking device 100 travels on a strongly reflective surface, it is preferable to control the first light source 12 to be turned on and the second light source 13 to be turned off, so as to calculate the displacement amount from the image frame IF acquired by the image sensor 11 when the first light source 12 is turned on. When the trajectory tracking device 100 travels on a weak reflection surface, it is preferable to control the first light source 12 to be turned off and the second light source 13 to be turned on, so as to calculate the displacement amount from the image frame IF acquired by the image sensor 11 when the second light source 13 is turned on. The displacement amount may be calculated by a known method, such as comparing two image frames, calculating correlation (correlation) between the image frames, and the like, without any particular limitation.
For example, the processor 15 calculates image characteristics of the image frame IF, and controls the first light source 12 or the second light source 13 to be turned on according to the image characteristics. In this embodiment, the image characteristics are parameters that can indicate image quality, such as, but not limited to, a count of gray-scale value differences of adjacent pixels in the image frame IF exceeding a predetermined value, image contrast, image sharpness, peak value, or number of boundaries. The processor 15 turns on the first light source 12 or the second light source 13 according to the image frame IF having the preferred image characteristic.
For example, after the trajectory tracking device 100 is turned on or stops sleeping, the processor 15 is preset to directly turn on the first light source 12 (or the second light source 13) for operation. When the image characteristics of the image frame IF obtained by the processor 15 are lower than a preset value or the image characteristic change exceeds a preset change threshold, the switching mode is entered. In the switching mode, the processor 15 sequentially controls the first light source 12 to be turned on to acquire the first image frame and the second light source 13 to be turned on to acquire the second image frame. The processor 15 then compares the first and second image frames to confirm that the image features are preferred. When the image characteristics of the first image frame are better, the processor 15 controls the first light source 12 to be activated in conjunction with the image acquisition of the image sensor 11 and returns to the normal mode to continue to operate. When the image characteristics of the second image frame are better, the processor 15 controls the second light source 13 to be activated in cooperation with the image acquisition of the image sensor 11 and returns to the normal mode for continuous operation. Then, when the processor 15 detects again that the image feature of the image frame IF is lower than the predetermined value or the image feature variation exceeds the predetermined variation threshold in the normal mode, the switching mode is entered again. When the surface condition changes, the trajectory tracking device 100 enters a switching mode from the normal mode to select a preferred operating state. Thus, the trajectory tracking device 100 can be adapted to different work surfaces.
In this embodiment, the normal mode is a mode in which only one of the two light sources is turned on and the displacement amount is calculated. The switching mode is a mode in which the light source to be used is determined and the amount of displacement is not calculated.
In some embodiments, the trajectory tracking device 100 may further include a third light source 16, preferably a point light source formed by a laser diode, for determining the height. The point light source means that a bright point is formed on the working surface S. Preferably, the first light source 12 and the second light source 13 are turned off when the third light source 16 is turned on. The processor 15 calculates the distance D from the work surface S from the image frames IF acquired by the image sensor 11 when the third light source 16 is lit. For example, the processor 15 calculates the distance D of the working surface S using a trigonometric function algorithm according to the imaging position of the third light source 16 in the image frame IF, calculates the distance D of the working surface S according to a time of flight (TOF) algorithm, or calculates the distance D according to other known distance measurement methods, without particular limitation.
The processor 15 also adjusts the magnification of the obtained displacement amount according to the distance D to output substantially the same counts per inch (counts per inch) when the trajectory tracking device 100 moves at a fixed speed, for example, assuming Δ s × R. For example, the trajectory tracking device 100 may further include a memory (memory), such as a non-volatile memory, for storing a plurality of magnifications R corresponding to different distances D. Multiplying the upper displacement Δ s by the higher magnification R as the distance D calculated by the processor 15 is farther; as the distance D obtained by the processor 15 becomes closer, the upper displacement Δ s is multiplied by the lower magnification R so that the processor 15 can output substantially the same count per inch when the trajectory tracking device 100 moves at a fixed speed. Therefore, even if the processor 15 uses different light sources to calculate the displacement, the user can still feel the same speed, so as to have better user experience.
It should be noted that the height calculating function of the third light source 16 and the processor 15 may be selectively implemented according to different applications.
Fig. 2 is a schematic diagram of a trajectory tracking device 200 according to another embodiment of the invention. The function and efficacy of the trajectory tracking device 200 is substantially the same as the embodiment of FIG. 1, but for detecting the amount of displacement relative to the work surface S, with the difference being the operation of the components within the housing 27 (which is similar to the housing 17 of FIG. 1).
The trajectory tracking device 200 includes an image sensor 21, a partially reflecting plate 28, a first light source 22, a second light source 23, a lens 24, and a processor 25. The processor 25 is electrically connected to the image sensor 21, the first light source 22 and the second light source 23.
The image sensor 21 comprises, for example, a CCD image sensor, a CMOS image sensor or other optical sensor for generating image frames IF at a preset or sampling rate in dependence on incident light received by its pixel array. Similarly, the image sensor 21 is preferably adapted to sense invisible light, such as infrared light.
The first light source 22 is configured to irradiate light toward the working surface S through the opening 200H to generate scattered light, and the scattered light passes through the opening 200H and then enters the image sensor 21 without passing through the partial reflecting plate 28 and the lens 24 or any lens. The first light source 22 may be selected to be a light emitting diode or a laser diode having a light emitting angle. The image sensor 21 is not disposed on the main reflection light path of the first light source 22 (i.e. does not receive the main reflection light beam) for detecting the scattered light generated by the first light source 22 on the weak reflection surface. In this embodiment, the definition of the main reflection light path and the scattered light is as described above, and therefore, the description thereof is omitted.
The second light source 23 is configured to irradiate the working surface S through the opening 200H by shining light toward the partial reflection plate 28 to generate a part of reflected light perpendicular to the working surface S, and the part of reflected light is incident on the image sensor 21 after being reflected by the working surface S. In this embodiment, the partial reflection plate 28 is, for example, a plastic plate or a glass plate, and is used for reflecting part of the light emitted by the second light source 23. The reflectivity and transmittance of the partially reflecting plate 28 are not particularly limited as long as the light emitted from the second light source 23 can be partially reflected perpendicularly toward the working surface S. The partially reflected light is reflected by the working surface S and then still vertically upward to the partially reflecting plate 28, and a part of the partially reflected light passes through the partially reflecting plate 28 and then reaches the pixel array of the image sensor 21 through the lens 24 (e.g., a convex lens) located between the partially reflecting plate 28 and the image sensor 21. Since the second light source 23 is used to generate reflected light perpendicularly toward the work surface S and the image sensor 21, it is suitable for a highly reflective surface.
By providing the partial reflecting plate 28, the light emitted from the second light source 23 passes through the partial reflecting plate 28 twice to greatly reduce the intensity thereof, so that sufficient reflected light can be generated only on the highly reflective surface. Meanwhile, since the image sensor 21 is not located on the main reflection light path of the first light source 22, scattered light incident on the image sensor 21 is weak at the time of a strong reflection meter. A processor 25 (similar to processor 15 of fig. 1) may calculate the displacement from the reflected light of the second light source 23 in the image frame IF on a highly reflective surface.
In the case of a weakly reflecting surface, the second light source 23 does not produce sufficient reflected light, and the processor 25 calculates the displacement from the light scattered by the first light source 22 in the image frame IF. Due to the above characteristics, the first light source 22 and the second light source 23 can be turned on simultaneously in this embodiment, but not limited thereto. The processor 25 may also compare image characteristics of the image frames obtained when different light sources are turned on to turn on only one of the two light sources in the normal mode, and the comparison method is as in the previous embodiment, and thus is not described herein again.
In addition, in the present embodiment, in order to avoid the formation of a fixed light spot on the partial reflection plate 28 to generate a fixed imaging noise in the image frame IF, the second light source 23 may be selected as a light emitting diode without using a laser diode. In other embodiments, the second light source 23 may be a laser diode IF the processor 25 can eliminate the fixed imaging noise in the image frame IF.
Fig. 3 is a schematic diagram of a trajectory tracking device 300 according to another embodiment of the invention. The function and efficacy of the trajectory tracking device 300 are the same as those of the embodiment of fig. 1, and all are used for detecting the displacement amount relative to the working surface S, but the difference is that in order to reduce the size of the opening 300H on the bottom surface of the housing 37, the embodiment adopts a single light source and a configuration of two image sensors.
The trajectory tracking device 300 includes a first image sensor 311, a second image sensor 312, a first light source 32, a lens 34, and a processor 35. The processor 35 is electrically connected to the first image sensor 311, the second image sensor 312 and the first light source 32.
The first image sensor 311 and the second image sensor 312 comprise, for example, a CCD image sensor, a CMOS image sensor, or other optical sensors, and are configured to output a first image frame IF1 and a second image frame IF2 at a predetermined or sampling rate according to incident light received by a pixel array thereof, respectively. Similarly, the first image sensor 311 and the second image sensor 312 are preferably adapted to sense invisible light. The first image sensor 311 and the second image sensor 312 are preferably two different image sensors and have respective pixel arrays; wherein the two pixel arrays may have the same or different sizes and resolutions (resolutions).
The first light source 32 is used for emitting light through the opening 300H toward the working surface S to generate reflected light Lr and scattered light Ls. The reflected light Lr passes through the aperture 300H and then enters the first image sensor 311 without passing through the lens 34 or any lens. The scattered light Ls passes through the aperture 300H and then enters the second image sensor 312 through the lens 34.
Since the first image sensor 311 is used for detecting the reflected light Lr, the first image sensor 311 is disposed on the main reflection light path of the first light source 32 (receives the main reflection light beam, which is opposite to the main incident light beam of the first light source 32). When the trajectory tracking device 30 travels on a highly reflective surface, the first image sensor 311 can sense better image characteristics.
Since the second image sensor 312 is used to detect the scattered light Ls, the second image sensor 312 is not disposed on the main reflection optical path of the first light source 32 (does not receive the main reflection optical beam). When the trajectory tracking device 300 travels on a weak reflective surface, the first image sensor 311 senses poor image characteristics, and the second image sensor 312 senses better image characteristics. Therefore, the processor 35 (similar to the processor 15 in fig. 1) controls the on/off of the first image sensor 311 or the second image sensor 312 according to the working surface S on which the trajectory tracking device 300 operates.
In this embodiment, the definitions of the reflected light, the scattered light and the main reflection light path are described above, and therefore are not described herein again.
For example, the processor 35 is configured to calculate image characteristics of the first image frame IF1 and the second image frame IF2, and control the first image sensor 311 or the second image sensor 312 to turn off according to the image characteristics; the image features are described as before, and thus are not described herein again.
For example, when the trajectory tracking device 300 is turned on or turned off, the processor 35 is preset to directly turn on the first image sensor 311 (or the second image sensor 312) for operation. When the image characteristics of the first image frame IF1 (or the second image frame IF2) obtained by the processor 35 are lower than a preset value or the image characteristic change exceeds a preset change threshold, the switching mode is entered. In the switching mode, the processor 35 controls the first image sensor 311 to acquire the first image frame IF1 and controls the second image sensor 312 to acquire the second image frame IF2 sequentially or simultaneously. Then, the processor 35 compares the first image frame IF1 and second image frame IF2 to confirm that image features are better. When the image characteristics of the first image frame IF1 are better, the processor 35 controls the first image sensor 311 to continue to operate and return to the normal mode. When the image characteristics of the second image frame IF2 are better, the processor 35 controls the second image sensor 312 to continue to operate and return to the normal mode. When the processor 35 detects again in the normal mode that the image feature of the first image frame IF1 or the second image frame IF2 (depending on the image sensor in operation) is lower than the predetermined value or the image feature variation exceeds the predetermined variation threshold, the switching mode is entered again for determination. As previously mentioned, the trajectory tracking device 300 of the present invention may be adapted to different work surfaces.
In this embodiment, the normal mode refers to a mode in which only one of the two image sensors operates and calculates the amount of displacement. The switching pattern is a pattern in which the displacement amount is not calculated.
In some embodiments, the first image sensor 311 and the second image sensor 312 operate simultaneously, and the processor 35 selects one of the first image frame IF1 or the second image frame IF2 with better image characteristics for tracking.
In some embodiments, the trajectory tracking device 300 may further include a point light source 36, preferably a point light source formed by a laser diode, for performing the height determination. The definition of point light sources is as described above. Preferably, when the point light source 36 is turned on, the first light source 32 is turned off, the second image sensor 312 is turned on, and the first image sensor 311 is turned off. The second image sensor 312 receives light emitted from the point light source 36 and reflected by the work surface S through the lens 34. The processor 35 calculates the distance D from the work surface S from a second image frame IF2 acquired by the second image sensor 312 when the point light source 36 is illuminated. The processor 35 calculates the distance D as described above, and therefore, the description thereof is omitted.
The processor 35 also adjusts the magnification of the calculated displacement amount according to the distance D to output substantially the same count per inch when the trajectory tracking device 300 moves at a fixed speed. For example, the trajectory tracking device 300 may further include a memory, such as a non-volatile memory, for storing the multiplying power corresponding to the different distances D. Multiplying the amount of displacement by a higher magnification as the distance D calculated by the processor 35 is farther; the closer the distance D found by the processor 35, the lower the magnification, the higher the amount of displacement, so that the processor 35 can output approximately the same counts per inch when the trajectory tracking device 300 is moving at a fixed speed. Thus, even IF the processor 35 calculates the displacement amount using different image frames (e.g., the first image frame IF1 or the second image frame IF2), the user can still feel the same speed, thereby improving the user experience.
It should be noted that the numerical values (for example, the light emission angle) in the above embodiments are merely examples, and are not intended to limit the present invention. In the present invention, the processor controls the light source to light up in relation to the image acquisition by the image sensor. The spatial relationships and ratios of the components in fig. 1-3 are for illustrative purposes only and are not intended to limit the present invention. In some embodiments, the housing may be provided with a button or a touch panel for a user to operate, and may also have a light signal to display an operation state of the trajectory tracking device. In some embodiments, the housing is wheel-mounted for movement over a work surface.
In the invention, the light source or the image sensor is not turned on, which means that the light source or the image sensor which is not turned on all the time before entering the switching mode next time. By calculating the displacement of the continuous time, the track of the track tracking device can be tracked.
In summary, the conventional optical track-tracing device cannot correctly calculate the displacement on some specific working surfaces, and has low applicability. Accordingly, the present invention provides a trajectory tracking device (fig. 1 to 3) that calculates the displacement by calculating the image characteristics of the image frames acquired under two different conditions to determine the proper image frame. The track tracing device can switch the working state relative to different working surfaces so as to be suitable for various working surfaces.
Although the present invention has been disclosed by way of examples, it is not intended to be limited thereto, and various changes and modifications can be made by one of ordinary skill in the art without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the scope defined by the appended claims.

Claims (10)

1. A trajectory tracking device for detecting an amount of displacement relative to a work surface, the trajectory tracking device comprising:
a first image sensor for outputting a first image frame;
a second image sensor for outputting a second image frame;
a lens;
the first light source is used for emitting light to the working surface to generate reflected light and scattered light, wherein the reflected light is incident to the first image sensor without passing through the lens, and the scattered light is incident to the second image sensor with passing through the lens.
2. The trajectory tracking device of claim 1, wherein
The first image sensor is disposed to receive the main reflected light beam of the first light source, and
the second image sensor is disposed not to receive the main reflected light beam of the first light source.
3. The trajectory tracking device of claim 1, further comprising a processor configured to control the first image sensor or the second image sensor to be turned off.
4. The trajectory tracking device of claim 3, wherein the processor is configured to calculate image features of the first image frame and the second image frame and control the first image sensor and the second image sensor according to the image features.
5. The trajectory tracking device of claim 1, further comprising a point light source, wherein the first light source is turned off and the second image sensor is turned on when the point light source is turned on.
6. The trajectory tracking device of claim 5 further comprising a processor for calculating a distance relative to the work surface from the second image frame acquired by the second image sensor when the point light source is illuminated.
7. The trajectory tracking device of claim 6, wherein the processor further adjusts a magnification of the amount of displacement based on the distance to output a same count per inch when the trajectory tracking device is moving at a fixed speed.
8. The trajectory tracking device of claim 7, further comprising a memory for storing the magnifications corresponding to different distances.
9. The trajectory tracking device of claim 5 wherein the second image sensor receives light reflected off the work surface when the point light source is illuminated through the lens.
10. The trajectory tracking device of claim 1, operable in a normal mode or a switching mode, wherein,
the normal mode is a mode in which one of the first image sensor and the second image sensor operates and calculates a displacement amount, and
the switching mode refers to a mode in which image features of the first image frame and the second image frame are compared to confirm that the image features are better but a displacement amount is not calculated.
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